Daisy chain network of sensors

ABSTRACT

Provided herein is a system and method for a sensor system on a vehicle. The sensor system comprises sensors connected with one another in a daisy chain communication network. The sensor system further comprises a controller connected to at least one of the sensors. The controller is configured to operate the vehicle based on data from the sensors and to operate the daisy chain communication network.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. patentapplication Ser. No. 16/569,406, filed Sep. 12, 2019, the content ofeach of which are hereby incorporated by reference in their entirety.

TECHNICAL FIELD

The present disclosure relates generally to vehicles equipped withsensors on a roof, and in particular, some embodiments relate to a daisychain network of sensors.

BACKGROUND

Vehicles such as autonomous vehicles (AVs) may have rooftop sensors suchas LiDAR or camera sensors, which supplement and bolster the vehicle'sfield of vision by providing accurate sensor data. The rooftop sensorsmay be connected to communicate with one another and with a controller.Currently, rooftop sensors may be connected via a star topology. With astar topology, a single point of failure would result in anirretrievable loss of communication at a branch at which the failureoccurs. Additional concerns include aesthetics and cumulative size andthickness of wiring required for a star topology. These shortfalls areaddressed by the present disclosures, which provides an efficient,robust communication system and method between sensors, such as sensorson a rooftop of a vehicle.

SUMMARY

Described herein are systems and methods for communication betweensensors, such as sensors on a rooftop of a vehicle. Various embodimentsof the present disclosure provide a sensor system comprising sensorsconnected with one another in a daisy chain communication network. Thesensor system further comprises a controller connected to at least oneof the sensors. The controller is configured to operate the vehiclebased on data from the sensors and to operate the daisy chaincommunication network.

In some embodiments, a sensor of the sensors is configured to: accept adata packet from another sensor; append an additional data packet to theaccepted data packet; and transmit a combined data packet comprising theaccepted data packet and the additional data packet to an additionalsensor or the controller. In some embodiments, the data packet and theadditional data packet comprise respective timestamps indicating timesat which each of the data packet and the additional data packet werecaptured and transmission delays of each of the data packet and theadditional data packet.

In some embodiments, in response to the sensor transmitting the combineddata packet to the controller, the controller is configured to processthe data packet and the additional data packet based on the respectivetimestamps of the data packet and the additional data packet.

In some embodiments, in response to a single-point failure occurringbetween two neighboring sensors, one of the neighboring sensors detectsthe single-point failure and communicates the failure to the controller;and the controller reverses a direction of data transmission in responseto the communication of the failure.

In some embodiments, the controller is configured to detect asingle-point failure between two neighboring sensors based on a changeover time of a throughput of data transmission between the twoneighboring sensors; and in response to detecting the single-pointfailure between two neighboring sensors, the controller is configured toreverse a direction of data transmission.

In some embodiments, the controller is configured to detect asingle-point failure between two neighboring sensors based on adifference in a throughput of data transmission between the twoneighboring sensors and a throughput of data transmission between one ofthe two neighboring sensors and an adjacent sensor; and in response todetecting the single-point failure between two neighboring sensors, thecontroller is configured to reverse a direction of data transmission.

In some embodiments, in response to a sensor not comprising an inputport and an output port, the sensor is connected to a custom interfacebox having an input port and an output port to connect with othersensors in the daisy chain communication network.

In some embodiments, the sensor system further comprises a power supplyand power supply lines connected in a daisy chain network between thesensors.

In some embodiments, the sensors are connected to custom interfaceboxes, and further comprising: a power supply and power supply linesconnected in a daisy chain network between the custom interface boxes.

In some embodiments, the sensors each comprise one input port and twooutput ports.

In some embodiments, the daisy chain communication network is abidirectional communication network that transmits data in twodirections at each of the sensors.

In some embodiments, one of the sensors is a trigger sensor at whichdata communication begins.

In some embodiments, in response to a single-point failure occurringbetween two neighboring sensors, the controller is configured todetermine whether or not to reverse a direction of data transmissionbased on whether the data transmission is unidirectional orbidirectional. For example, if the data transmission is unidirectional,the controller determines to reverse the direction of data transmission.If the data transmission is bidirectional, the controller determines notto reverse the direction of data transmission.

Various embodiments of the present disclosure provide a methodimplemented by a sensor system on a vehicle. The method comprisesassembling sensors in a daisy chain communication network, connecting acontroller to at least one of the sensors, and operating the vehicle andthe daisy chain communication network, by the controller, based on datafrom the sensors.

In some embodiments, the method further comprises, accepting, by asensor of the sensors, a data packet from another sensor; appending, bythe sensor, an additional data packet to the accepted data packet; andtransmitting, by the sensor, a combined data packet comprising theaccepted data packet and the additional data packet to an additionalsensor or the controller. In some embodiments, the data packet and theadditional data packet comprise respective timestamps indicating timesat which each of the data packet and the additional data packet werecaptured and transmission delays of each of the data packet and theadditional data packet.

In some embodiments, the method further comprises, in response to thesensor transmitting the combined data packet to the controller,processing, by the controller, the data packet and the additional datapacket based on the respective timestamps of the data packet and theadditional data packet.

In some embodiments, the method further comprises, in response to asingle-point failure occurring between two neighboring sensors,detecting, by one of the neighboring sensors, the single-point failureand communicating the failure to the controller; and reversing, by thecontroller, a direction of data transmission in response to thecommunication of the failure.

In some embodiments, the method further comprises, detecting, by thecontroller, a single-point failure between two neighboring sensors basedon a change over time of a throughput of data transmission between thetwo neighboring sensors; and in response to detecting the single-pointfailure between two neighboring sensors, reversing, by the controller, adirection of data transmission.

In some embodiments, the method further comprises, detecting, by thecontroller, a single-point failure between two neighboring sensors basedon a difference in a throughput of data transmission between the twoneighboring sensors and a throughput of data transmission between one ofthe two neighboring sensors and an adjacent sensor; and in response todetecting the single-point failure between two neighboring sensors,reversing, by the controller, a direction of data transmission.

In some embodiments, the method further comprises, in response to asingle-point failure occurring between two neighboring sensors,detecting, by one of the neighboring sensors, the single-point failureand communicating the failure to the controller; and reversing, by thecontroller, a direction of data transmission in response to thecommunication of the failure, based on whether the data transmission isunidirectional or bidirectional.

In some embodiments, the method further comprises, detecting, by thecontroller, a single-point failure between two neighboring sensors basedon a difference in a throughput of data transmission between the twoneighboring sensors and a throughput of data transmission between one ofthe two neighboring sensors and an adjacent sensor; and in response todetecting the single-point failure between two neighboring sensors,reversing, by the controller, a direction of data transmission, based onwhether the data transmission is unidirectional or bidirectional.

In some embodiments, the method further comprises, in response to asensor not comprising an input port and an output port, connecting thesensor to a custom interface box having an input port and an output portto connect with other sensors in the daisy chain communication network.

In some embodiments, the method further comprises connecting a powersupply and power supply lines between the sensors in a daisy chainnetwork.

In some embodiments, the method further comprises connecting the sensorsto custom interface boxes; and connecting a power supply and powersupply lines in a daisy chain network between the custom interfaceboxes.

In some embodiments, the sensors each comprise one input port and twooutput ports to connect with other sensors. The assembling the sensorsin the daisy chain communication network comprises connecting thesensors between one of two output ports of one sensor and an input portof another sensor.

These and other features of the systems, methods, and non-transitorycomputer readable media disclosed herein, as well as the methods ofoperation and functions of the related elements of structure and thecombination of parts and economies of manufacture, will become moreapparent upon consideration of the following description and theappended claims with reference to the accompanying drawings, all ofwhich form a part of this specification, wherein like reference numeralsdesignate corresponding parts in the various figures. It is to beexpressly understood, however, that the drawings are for purposes ofillustration and description only and are not intended as a definitionof the limits of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

Certain features of various embodiments of the present technology areset forth with particularity in the appended claims. A betterunderstanding of the features and advantages of the technology will beobtained by reference to the following detailed description that setsforth illustrative embodiments, in which the principles of the inventionare utilized, and the accompanying drawings of which:

FIG. 1 illustrates an example vehicle (e.g., autonomous vehicle),according to an embodiment of the present disclosure.

FIG. 2 illustrates an example diagram of a daisy chain network ofsensors, according to an embodiment of the present disclosure.

FIGS. 3A-3B illustrates an example diagram of a daisy chain network ofsensors, with a transmission of data through the daisy chain network ofsensors, according to an embodiment of the present disclosure.

Table 1 depicts an exemplary scheme of bidirectional data transmissionprovided by the daisy chain network 600 of FIG. 6 .

FIG. 4 illustrates an example diagram of a daisy chain network ofsensors, according to an embodiment of the present disclosure.

FIG. 5 illustrates an example diagram of a daisy chain network ofsensors, according to an embodiment of the present disclosure.

FIG. 6 illustrates an example diagram of a daisy chain network ofsensors, according to an embodiment of the present disclosure.

Table 2 depicts an exemplary embodiment of transmission delay times ofdata packets shown in FIG. 3 .

FIG. 7 illustrates an flowchart of an example of a method to ofassembling a daisy chain network, according to some embodiments.

FIG. 8 is a diagram of an example computer system for implementing thefeatures disclosed herein.

DETAILED DESCRIPTION

In order for sensors to effectively communicate with one another, thesensors need to be connected in a robust and reliable network. Forexample, LiDAR and/or camera sensors on a rooftop of a vehicle need tobe connected to tolerate a single-point failure, and also should beconnected in a manner to reduce an amount of wiring needed. Using adaisy chain network may effectively and efficiently maintaincommunications between sensors. Even if a single-point failure were tooccur in a daisy chain network, sensors would still be able tocommunicate with one another. A daisy chain network improves robustnessof a sensor communication network compared to conventional star topologynetworks.

FIG. 1 illustrates an example vehicle such as an autonomous vehicle 100,according to an embodiment of the present disclosure. A vehicle 100generally refers to a category of vehicles that are capable of sensingand driving in a surrounding by itself. The vehicle 100 can includemyriad sensors (camera, LiDAR, radar systems, GPS, sonar, ultrasonic,IMU (inertial measurement unit), accelerometers, gyroscopes,magnetometers, and FIR (far infrared) sensors) to detect and identifyobjects in the surrounding. For example, the LiDAR sensors can generatea three-dimensional map of the environment. The LiDAR sensors can alsodetect objects in the environment. In another example, the radar systemscan determine distances and speeds of objects around the vehicle 100,and may be configured for adaptive cruise control and/or accidentavoidance and blind spot detection. In another example, the cameras cancapture and process image data to detect and identify objects, such asroad signs, as well as deciphering content of the objects, such as speedlimit posted on the road signs. Such objects may include, but notlimited to, pedestrians, road signs, traffic lights, and/or othervehicles, for example. The vehicle 100 can also include myriad actuatorsto propel and navigate the vehicle 100 in the surrounding. Suchactuators may include, for example, any suitable electro-mechanicaldevices or systems to control a throttle response, a braking action, asteering action, etc. In some embodiments, the vehicle 100 canrecognize, interpret, and analyze road signs (e.g., speed limit, schoolzone, construction zone, etc.) and traffic lights (e.g., red light,yellow light, green light, flashing red light, etc.). For example, thevehicle 100 can adjust vehicle speed based on speed limit signs postedon roadways. In some embodiments, the vehicle 100 can determine andadjust speed at which the vehicle 100 is traveling in relation to otherobjects in the surroundings. For example, the vehicle 100 can maintain aconstant, safe distance from a vehicle ahead (e.g., adaptive cruisecontrol). In this example, the vehicle 100 maintains this safe distanceby constantly adjusting its vehicle speed to that of the vehicle ahead.

In various embodiments, the vehicle 100 may navigate through roads,streets, and/or terrain with limited or no human input. The word“vehicle” or “vehicles” as used in this paper includes vehicles thattravel on ground (e.g., cars, trucks, bus, etc.), but may also includevehicles that travel in air (e.g., drones, airplanes, helicopters,etc.), vehicles that travel on water (e.g., boats, submarines, etc.).Further, “vehicle” or “vehicles” discussed in this paper may or may notaccommodate one or more passengers therein. Moreover, phrases“autonomous vehicles,” “driverless vehicles,” or any other vehicles thatdo not require active human involvement can be used interchangeably.

In general, the vehicle 100 can effectuate any control to itself that ahuman driver can on a conventional vehicle. For example, the vehicle 100can accelerate, brake, turn left or right, or drive in a reversedirection just as a human driver can on the conventional vehicle. Thevehicle 100 can also sense environmental conditions, gauge spatialrelationships (e.g., distances between objects and itself), detect andanalyze road signs just as the human driver. Moreover, the vehicle 100can perform more complex operations, such as parallel parking, parkingin a crowded parking lot, collision avoidance, etc., without any humaninput.

In various embodiments, the vehicle 100 may include a rooftop 101,camera sensors 102, 104, and 106, and LiDAR sensor 108, disposed on therooftop 101. A connection between the camera sensors 102, 104, and 106,and the LiDAR sensor 108, will be described with reference to FIGS. 2-4, and a connection between the camera sensors 102, 104, 106, and theLiDAR sensor 108 may be implemented by any of the networks described inFIGS. 2-4 .

FIG. 2 illustrates an example diagram of a daisy chain network 200 ofsensors, according to an embodiment of the present disclosure. The daisychain network 200 comprises sensors 210, 220, 230, and 240 electricallyconnected in a daisy chain network including wires 218, 228, 238, and248. Each of the sensors 210, 220, 230, and 240 comprises at least oneinput port and one output port. The sensors 210, 220, 230, and 240 maybe camera sensors. At least one of the sensors 210, 220, 230, and 240may have a different modality, such as LiDAR or radar. The wire 218 maybe connected between output port 212 of the sensor 210 and input port224 of the sensor 220. The wire 228 may be connected between output port222 of the sensor 220 and input port 234 of the sensor 230. The wire 238may be connected between output port 232 of the sensor 230 and inputport 244 of the sensor 240. The wire 248 may be connected between outputport 242 of the sensor 240 and input port 214 of the sensor 210. Thesensors 210 and 240 may be connected, via wires 256 and 258, to acontroller 250. The controller 250 comprises two ports 252 and 254 thatconnect, respectively, to connection port 246 of the sensor 240 andconnection port 216 of the sensor 210. The controller 250 may acquireand process data from the sensors 210, 220, 230, and 240 and performoperations on a vehicle such as changing a speed, turning, or changinglanes. For example, the controller 250 may adjust for a time delay oftransmission of the sensors 210, 220, 230, and 240. The controller 250may control operations of a vehicle such as vehicle 100, using data fromthe sensors 210, 220, 230, and 240. The controller 250 may control theoperations of the network 200, such as addressing single point failures.For example, the controller 250 may reverse a direction of datatransmission in response to a single point failure. In some examples,the sensors 210, 220, 230, and 240 may be disposed on a rooftop of avehicle and the controller 250 may be disposed elsewhere on the vehicle.

The communication protocol between the sensors 210, 220, 230, and 240,and the controller 250, may be based on CAN, CAN-FD, LIN, ethernet suchas Automotive Ethernet (e.g., 100Base-T1 or 1000Base-T1), or aproprietary bus protocol. The communication protocol may employ a singletwo-way channel, two one-way channels, or two two-way channels for extraredundancy.

FIG. 3A illustrates an example diagram of a daisy chain network 300 ofsensors, with a transmission of data through the daisy chain network 300of sensors, according to an embodiment of the present disclosure. As anexample, the daisy chain network 300 of sensors may comprise sensors310, 320, 330, and 340. The sensors 310, 320, 330, and 340 may be camerasensors. The sensors 310, 320, 330, and 340 may be camera sensors. Atleast one of the sensors 310, 320, 330, and 340 may have a differentmodality, such as LiDAR or radar. The sensor 310 may be connected to acustom interface box 311 to facilitate connection to a daisy chainnetwork, for example, if the sensor 310 is not equipped with two ports(one input port and one output port). The custom interface box 311 maycomprise an input port 312, an output port 313, and a connection port314. The sensor 320 may be connected to a custom interface box 321 tofacilitate connection to a daisy chain network, for example, if thesensor 320 is not equipped with two ports (one input port and one outputport). The custom interface box 321 may comprise an input port 322 andan output port 323. The sensor 330 may be connected to a custominterface box 331 to facilitate connection to a daisy chain network, forexample, if the sensor 330 is not equipped with two ports (one inputport and one output port). The custom interface box 331 may comprise aninput port 332 and an output port 333. The sensor 340 may be connectedto a custom interface box 341 to facilitate connection to a daisy chainnetwork, for example, if the sensor 340 is not equipped with two ports(one input port and one output port). The custom interface box 341 maycomprise an input port 342 and an output port 343.

The output port 313 of the custom interface box 311 may be connected tothe input port 322 of the custom interface box 321 via a wire 315.Alternatively, the output port 313 of the custom interface box 311 maybe connected directly to an input port of the sensor 320, without thecustom interface box 321, for example, if the sensor 320 has an inputport and an output port. The output port 323 of the custom interface box321 may be connected to the input port 332 of the custom interface box331 via a wire 325. Alternatively, the output port 323 of the custominterface box 321 may be connected directly to an input port of thesensor 330, without the custom interface box 331, for example, if thesensor 330 has an input port and an output port. The output port 333 ofthe custom interface box 331 may be connected to the input port 342 ofthe custom interface box 341 via a wire 335. Alternatively, the outputport 333 of the custom interface box 331 may be connected directly to aninput port of the sensor 340 without the custom interface box 331, forexample, if the controller 340 has an input port and an output port. Theoutput port 343 of the custom interface box 341 may be connected to theinput port 312 of the custom interface box 311 via a wire 345.Alternatively, the output port 343 of the custom interface box 341 maybe connected to an input port of the sensor 310. The wires 315, 325,335, and 345 may be electrically isolated from one another so that afailure of one of the wires would not affect the other wires. The wires315, 325, 335, and 345 may be communication channels. Additionally,power supply wires (not shown) may run between each of the sensors andmay be organized in a daisy chain network.

A connection port 314 of the custom interface box 311 may be connectedto a connection port 354 of a controller 350 by a wire 358. A connectionport 344 of the custom interface box 341 may be connected to aconnection port 352 of the controller 350 by a wire 356. The controller350 may acquire and process data from the sensors 310, 320, 330, and340. For example, the controller 350 may adjust for a time delay oftransmission of the sensors 310, 320, 330, and 340. The controller 350may control operations of a vehicle such as vehicle 100, using data fromthe sensors 310, 320, 330, and 340. For example, the controller 350 mayperform operations on a vehicle such as changing a speed, turning, orchanging lanes. The controller 350 may control the operations of thenetwork 300, such as addressing single point failures. For example, thecontroller 350 may reverse a direction of data transmission in responseto a single point failure. In some examples, the sensors 310, 320, 330,and 340 may be disposed on a rooftop of a vehicle and the controller 350may be disposed elsewhere on the vehicle.

Data packets from the sensors 310, 320, 330, and 340 may be transmittedfrom each of the sensors 310, 320, 330, and 340, through the daisy chainnetwork 300, to the controller 350. At a location of each sensor 310,320, 330, and 340, an additional data packet may be appended. Each datapacket may include a timestamp. Data transmission may be unidirectionalduring a single transmission. Data packet A may be transmitted from thesensor 310 through the wire 315 to the sensor 320. At the sensor 320, adata packet B may be appended to the data packet A. The combined datapacket comprising A and B may be transmitted from the sensor 320, viathe wire 325, to the sensor 330. At the sensor 330, a data packet C maybe appended to the combined data packet comprising A and B to form acombined data packet comprising A, B, and C. The combined data packetcomprising A, B, and C may be transmitted to the sensor 340, where adata packet D may be appended to produce a combined data packetcomprising A, B, C, and D, which may be sent to the controller 350 viathe wire 356.

The controller 350 may adjust the combined data packet A, B, C, and Dbased on timestamps of each of the data packets A, B, C, and D thatindicate a transmission delay time of each of the data packets A, B, C,and D, to take into account different time delays of each of the datapackets A, B, C, and D. For example, the data packet A may be from acamera that captured image data before the other data packets B, C, andD Table 1 depicts transmission delay times of the data packets (e.g., B,C, and D). The controller 350 may process or adjust to image data ineach data packet to account for the different capture times of each datapacket. The transmission delay time of each packet may be determined bya sum of a latency time and a processing time. The latency time maycomprise a time consumed by a packet to travel from one sensor toanother or a sensor to the controller 350, a time consumed at eachsensor to analyze a header information of the packet and/or addadditional data to the packet, and a storage delay of the packet at asensor. The processing time may comprise a time consumed in appendinganother data packet. In some examples, the latency time for data packetA is x1+x2+x3+x4. x1 is a time consumed for the data packet A to travelfrom the sensor 310 to the sensor 320, and further includespreprocessing delays and postprocessing delays of the data packet A atthe sensor 320. x2 is a time consumed for the combined data packet A andB to travel from the sensor 320 to the sensor 330, and further includespreprocessing delays and postprocessing delays of the combined datapacket A and B at the sensor 330. x3 is a time consumed for the combineddata packet A, B, and C to travel from the sensor 330 to the sensor 340,and further includes preprocessing delays and postprocessing delays ofthe combined data packet A, B, and C at the sensor 340. x4 is a timeconsumed for the combined data packet A, B, C, and D to travel from thesensor 340 to the controller 350, and further includes preprocessingdelays and postprocessing delays of the combined data packet A, B, C,and D at the controller 350. In some examples, the processing time fordata packet A is y1+y2+y3+y4. y1 indicates a time consumed forprocessing of the data packet A at the sensor 310. y2 indicates a timeconsumed for processing of the combined data packet A and B at thesensor 320. y3 indicates a time consumed for processing of the combineddata packet A, B, and C at the sensor 330. y4 indicates a time consumedfor processing of the combined data packet A, B, C, and D at the sensor340. The transmission delay time includes a time consumed for eachpacket during transmission between sensors, processing at each sensor,and other delays at each sensor.

The communication protocol between the sensors 310, 320, 330, and 340,and the controller 350, may be based on CAN, CAN-FD, LIN, ethernet suchas Automotive Ethernet (e.g., 100Base-T1 or 1000Base-T1), or aproprietary bus protocol. The communication protocol may employ a singletwo-way channel, two one-way channels, or two two-way channels for extraredundancy.

The daisy chain network in FIG. 3A demonstrates robustness against asingle point failure, for example, if a wire or a sensor were to becomeinoperational. For example, if the wire 325 were to become inoperational(such as being grounded due to rain, becoming an open circuit, orotherwise nonconductive), as shown in FIG. 3B, the controller 350 wouldstill be able to obtain data from each of the sensors 310, 320, 330, and340. One of the neighboring sensors 320 and/or 330 may detect that thewire 325 is inoperational (for example, based on not receiving data froma neighboring sensor for a duration) and alert the other sensors 310 and340, and the controller 350. Additionally, one of the neighboringsensors 320 and/or 330 may increase its functionality to compensate forthe inoperational wire 325. Alternatively, the controller 350 may detectthat a wire or a sensor is inoperational based on a difference in athroughput of data transmission between adjacent neighboring sensors.For instance, the controller 350 may detect that the wire 325 is brokenor the sensor 320 is defective if no data transmission is recordedbetween the sensor 320 and the sensor 330, but data transmission isrecorded between the sensor 330 and the sensor 340. In some embodiments,the controller 350 may detect that the wire 325 is broken or the sensor320 is defective in response to a change over time of a throughput ofdata transmission, for example, between 320 and 330.

Even with a single point failure, the controller may still obtain datafrom each of the sensors 310, 320, 330, and 340. To obtain data from thesensor 310, the controller 350 may reverse a transmission direction ofdata so that data from the sensor 310, such as data packet A, may besent through the wire 358 to the controller 350, or through the wire 345to the sensor 340 and through the wire 356 to the controller 350. Toobtain data from the sensor 320, the controller 350 may reverse atransmission direction of data so that data from the sensor 320, such asa data packet B, may be sent through the wire 315 to the sensor 310.From the sensor 310, the data packet A may be appended to the datapacket B to form a combined data packet A and B, which may then betransmitted through the wire 358 to the controller 350, or through thewire 345 to the sensor 340, at which point a data packet D may beappended, and the combined data packet A, B, and D may be transmittedthrough wire 356 to the controller 350.

Moreover, in the case of the single point failure, data from the sensor330, such as the data packet C, may be sent through the wire 335 to thesensor 340, without reversing a transmission direction of data. From thesensor 340, the data packet C may be appended with the data packet D andmay be sent through the wire 356 to the controller 350. Alternatively,the combined data packet C and D may be transmitted through the wire 345to the sensor 310 and appended with the data packet A, and the combineddata packet C, D, and A may be sent through the wire 358 to thecontroller 350.

In some embodiments, two communication channels between each of thesensors 310, 320, 330, and 340 may be provided in parallel. Each of thecommunication channels may support data transmission in oppositedirections. For example, data transmission may occur in both directionssimultaneously. In some embodiments, a single communication channelbetween each of the sensors 310, 320, 330, and 340 may be bidirectional.For example, a direction of transmission through the singlecommunication channel may be adjusted by a switch. In some embodiments,two bi-directional channels between each of the sensors 310, 320, 330,and 340 may be provided.

FIG. 4 illustrates an example diagram of a daisy chain network 400 ofsensors according to an embodiment of the present disclosure. In thedaisy chain network 400, sensors 410, 420, 430, and 440 each have twooutput ports and one input port. The sensor 410 includes output ports412 and 414 and input port 416. The sensor 420 includes output ports 422and 424 and input port 426. The sensor 430 includes output ports 432 and434 and input port 436. The sensor 440 includes output ports 442 and 444and input port 446. The sensor 410 may be connected to the sensor 420through a wire 418 between the output port 412 and the input port 426.The sensor 420 may be connected to the sensor 430 through a wire 428between the output port 422 and the input port 436. The sensor 430 maybe connected to the sensor 440 through a wire 438 between the outputport 434 and the input port 446. The sensor 440 may be connected to thesensor 410 through a wire 448 between the output port 444 and the inputport 416. The sensor 440 may be connected to a controller 450 through awire 456 between the output port 442 and a connection port 452. Thesensor 450 may be connected to the sensor 410 through a wire 458 betweenthe output port 414 and a connection port 454. The controller 450 may beimplemented as controller 350 or 250, for example.

The communication protocol between the sensors 410, 420, 430, and 440,and the controller 450, may be based on CAN, CAN-FD, LIN, ethernet suchas Automotive Ethernet (e.g., 100Base-T1 or 1000Base-T1), or aproprietary bus protocol. The communication protocol may employ a singletwo-way channel, two one-way channels, or two two-way channels for extraredundancy.

FIG. 5 illustrates an example diagram of a daisy chain network ofsensors, according to an embodiment of the present disclosure. As anexample, the daisy chain network 500 of sensors may comprise sensors510, 520, 530, and 540. The sensors 510, 520, 530, and 540 may be camerasensors. The sensors 510, 520, 530, and 540 may be camera sensors. Atleast one of the sensors 510, 520, 530, and 540 may have a differentmodality, such as LiDAR or radar. The sensor 510 may be connected to acustom interface box 511 to facilitate connection to a daisy chainnetwork, for example, if the sensor 510 is not equipped with two ports(one input port and one output port). The custom interface box 511 maycomprise input ports 512 and 513, output ports 514 and 515, and aconnection port 518. The sensor 520 may be connected to a custominterface box 521 to facilitate connection to a daisy chain network, forexample, if the sensor 520 is not equipped with two ports (one inputport and one output port). The custom interface box 521 may compriseinput ports 522 and 523, and output ports 524 and 525. The sensor 530may be connected to a custom interface box 531 to facilitate connectionto a daisy chain network, for example, if the sensor 530 is not equippedwith two ports (one input port and one output port). The custominterface box 531 may comprise input ports 532 and 533, and output ports534 and 535. The sensor 540 may be connected to a custom interface box541 to facilitate connection to a daisy chain network, for example, ifthe sensor 540 is not equipped with two ports (one input port and oneoutput port). The custom interface box 541 may comprise input ports 542and 543, and output ports 544 and 545.

The output port 514 of the custom interface box 511 may be connected tothe input port 522 of the custom interface box 521 via a wire 516. Theoutput port 524 of the custom interface box 521 may be connected to theinput port 532 of the custom interface box 531 via a wire 526. Theoutput port 534 of the custom interface box 531 may be connected to theinput port 542 of the custom interface box 541 via a wire 536. Theoutput port 544 of the custom interface box 541 may be connected to theinput port 512 of the custom interface box 511 via a wire 546. The wires516, 526, 536, and 546 may be electrically isolated from one another sothat a failure of one of the wires would not affect the other wires. Thewires 516, 526, 536, and 546 may be communication channels.Additionally, power supply wires 517, 527, 537, and 547 may run betweeneach of the custom interface boxes 511, 521, 531, and 541 and providepower to the sensors 510, 520, 530, and 540, and may be organized in adaisy chain network. The power supply wires 517, 527, 537, and 547 maybe electrically connected to power supply 560 through the sensor 540 viapower supply line 562. The power supply wire 517 may be connectedbetween the output port 515 and the input port 523 of custom interfaceboxes 511 and 521, respectively. The power supply wire 527 may beconnected between the output port 525 and the input port 533 of custominterface boxes 521 and 531, respectively. The power supply wire 537 maybe connected between the output port 535 and the input port 543 ofcustom interface boxes 531 and 541, respectively. The power supply wire547 may be connected between the output port 545 and the input port 533of custom interface boxes 541 and 551, respectively. In otherembodiments, the power supply wires 517, 527, 537, and 547 may bedirectly connected or connected between the sensors 510, 520, 530, and540 without using the custom interface boxes 511, 521, 531, and 541.

A connection port 518 of the custom interface box 511 may be connectedto a connection port 554 of a controller 550 by a wire 558. A connectionport 548 of the custom interface box 541 may be connected to aconnection port 552 of the controller 550 by a wire 556. The controller550 may acquire and process data from the sensors 510, 520, 530, and540. For example, the controller 550 may adjust for a time delay oftransmission of the sensors 510, 520, 530, and 540. The controller 550may control operations of a vehicle such as vehicle 100, using data fromthe sensors 510, 520, 530, and 540. For example, the controller 550 mayperform operations on a vehicle such as changing a speed, turning, orchanging lanes. The controller 550 may control the operations of thedaily chain network 500, such as addressing single point failures. Forexample, the controller 550 may reverse a direction of data transmissionin response to a single point failure. In some examples, the sensors510, 520, 530, and 540 may be disposed on a rooftop of a vehicle and thecontroller 550 may be disposed elsewhere on the vehicle.

The communication protocol between the sensors 510, 520, 530, and 540,and the controller 550, may be based on CAN, CAN-FD, LIN, ethernet suchas Automotive Ethernet (e.g., 100Base-T1 or 1000Base-T1), or aproprietary bus protocol. The communication protocol may employ a singletwo-way channel, two one-way channels, or two two-way channels for extraredundancy.

FIG. 6 illustrates an example diagram of a daisy chain network 600 ofsensors 610, 620, 630, and 640, according to an embodiment of thepresent disclosure. In some embodiments, two communication channelsbetween each of the sensors 610, 620, 630, and 640 may be provided inparallel. Each of the communication channels may support datatransmission in opposite directions. For example, data transmission mayoccur in both directions simultaneously. The sensors 610, 620, 630, and640 may be camera sensors. The sensors 610, 620, 630, and 640 may becamera sensors. At least one of the sensors 610, 620, 630, and 640 mayhave a different modality, such as LiDAR or radar. The sensor 610 may beconnected to a custom interface box 611 to facilitate connection to adaisy chain network, for example, if the sensor 610 is not equipped withtwo ports (one input port and one output port). The custom interface box611 may comprise an input port 612, an output port 613, and a connectionport 614. The sensor 620 may be connected to a custom interface box 621to facilitate connection to a daisy chain network, for example, if thesensor 620 is not equipped with two ports (one input port and one outputport). The custom interface box 621 may comprise an input port 622 andan output port 623. The sensor 630 may be connected to a custominterface box 631 to facilitate connection to a daisy chain network, forexample, if the sensor 630 is not equipped with two ports (one inputport and one output port). The custom interface box 631 may comprise aninput port 632 and an output port 633. The sensor 640 may be connectedto a custom interface box 641 to facilitate connection to a daisy chainnetwork, for example, if the sensor 640 is not equipped with two ports(one input port and one output port). The custom interface box 641 maycomprise an input port 642 and an output port 643.

The output port 613 of the custom interface box 611 may be connected tothe input port 622 of the custom interface box 621 via a communicationchannel comprising bidirectional wires 615 and 616. Alternatively, theoutput port 613 of the custom interface box 611 may be connecteddirectly to an input port of the sensor 620, without the custominterface box 621, for example, if the sensor 620 has an input port andan output port. The output port 623 of the custom interface box 621 maybe connected to the input port 632 of the custom interface box 631 via acommunication channel comprising bidirectional wires 625 and 626.Alternatively, the output port 623 of the custom interface box 621 maybe connected directly to an input port of the sensor 630, without thecustom interface box 631, for example, if the sensor 630 has an inputport and an output port. The output port 633 of the custom interface box631 may be connected to the input port 642 of the custom interface box641 via a communication channel comprising bidirectional wires 635 and636. Alternatively, the output port 333 of the custom interface box 331may be connected directly to an input port of the sensor 340 without thecustom interface box 331, for example, if the controller 340 has aninput port and an output port. The output port 343 of the custominterface box 341 may be connected to the input port 312 of the custominterface box 311 via a communication channel comprising bidirectionalwires 645 and 646. Alternatively, the output port 643 of the custominterface box 641 may be connected to an input port of the sensor 610.The wires 615, 616, 625, 626, 635, 636, 645, and 646 may be electricallyisolated from one another so that a failure of one of the wires wouldnot affect the other wires.

A connection port 614 of the custom interface box 611 may be connectedto a connection port 654 of a controller 650 by bidirectional wires 658and 659. A connection port 644 of the custom interface box 641 may beconnected to a connection port 652 of the controller 650 bybidirectional wires 655 and 656. The controller 650 may acquire andprocess data from the sensors 610, 620, 630, and 640. For example, thecontroller 650 may adjust for a time delay of transmission of thesensors 610, 620, 630, and 640. The controller 650 may controloperations of a vehicle such as vehicle 100, using data from the sensors610, 620, 630, and 640. For example, the controller 650 may performoperations on a vehicle such as changing a speed, turning, or changinglanes. Because data transmission is bidirectional, the controller 650does not need to reverse a direction of data transmission in an event ofa fault because a data packet would be received by a reversecommunication path. Thus, a controller (such as controller 650) maydetermine whether or not to reverse a direction of data transmission inresponse to a fault based on whether the data transmission isunidirectional or bidirectional, and take such action. For example, ifthe data transmission is unidirectional, the controller 650 determinesto reverse the direction of data transmission. If the data transmissionis bidirectional, the controller 650 determines not to reverse thedirection of data transmission. In an event of a fault, data packets maybe sent from one or more sensors neighboring a location of the fault.The one or more sensors neighboring a location of the fault may be setas trigger points (for example, points at which data transmission start)for data transmission. The controller 650 may arbitrate depending on afailure mode of the network 600.

Data packets from the sensors 610, 620, 630, and 640 may be transmittedfrom each of the sensors 610, 620, 630, and 640, through the daisy chainnetwork 600, to the controller 650. Initially, only a single sensor(e.g., sensor 610) may be set as a trigger point to commence datatransmission. At a location of each sensor 610, 620, 630, and 640, anadditional data packet may be appended. Each data packet may include atimestamp. Data transmission may be bidirectional. Data packet A may betransmitted from the sensor 610 through the wire 615 to the sensor 620.At the same time, data packet A may also be transmitted from the sensor610 through the wire 646 to the sensor 640. The controller 650 mayreceive each packet of data twice, but at different times. Thecontroller 650 may discard a packet of data that has previously beenreceived.

A scheme of bidirectional data transmission provided by the daisy chainnetwork 600 in one embodiment is shown in Table 1. At time t1, a datapacket A may be transmitted from the sensor 610 to the sensor 620, andalso from the sensor 610 to the sensor 640 in an opposite direction.“A1” denotes that a data packet A is transmitted at time t1. At time t2,a data packet A1B2 (A appended with B) may be transmitted from thesensor 620 to the sensor 630, and at the same time from the sensor 620to the sensor 610. At time t2, a data packet A1D2 may be transmittedfrom the sensor 640 to the sensor 630, and at the same time from thesensor 640 to the sensor 610. At time t3, data packets A1D2A3 and A1B2A3may be transmitted from the sensor 610 to the sensor 620, and from thesensor 610 to the sensor 640. At time t3, data packets A1D2C3 and A1B2C3may be transmitted from the sensor 630 to the sensor 640, and from thesensor 630 to the sensor 620. The controller 650 may coordinate orschedule a time and location for offloading of data packets to thecontroller. For example, the controller 650 may schedule the offloadingof data packets after every three data transmission cycles (for example,after time t3) from the sensor 640, and/or after every four datatransmission cycles from the sensor 610. For example, after time t3,data packets A1D2A3, A1B2A3, A1D2C3, and A1B2C3 would be offloaded tothe controller 650.

TABLE 1 Transmission Transmission Start End Data Packets Time PointPoint Transmitted t1 610 620 A1 t1 610 640 A1 t2 620 630 A1B2 t2 620 610A1B2 t2 640 630 A1D2 t2 640 610 A1D2 t3 610 620 A1D2A3; A1B2A3 t3 610640 A1D2A3; A1B2A3 t3 630 640 A1D2C3; A1B2C3 t3 630 620 A1D2C3; A1B2C3

The controller 650 may adjust data packets received based on timestampsof each of the data packet that indicate a transmission delay time ofeach of the data packets, to take into account different time delays ofeach of the data packets. For example, the data packet A may be from acamera that captured image data before the other data packets B, C, andD. Table 2 as shown below depicts an exemplary embodiment showingtransmission delay times of the data packets (e.g., A, B, C, and D). Thecontroller 650 may process or adjust to image data in each data packetto account for the different capture times of each data packet.

TABLE 2 Data Latency Processing Delay Time Packet Time Time A x1 + x2 +y1 + y2 + x1 + x2 + x3 + x4 y3 + y4 x3 + x4 + y1 + y2 + y3 + y4 B x2 +x3 + y2 + y3 + x2 + x3 + x4 y4 x4 + y2 + y3 + y4 C x3 + x4 y3 + y4 x3 +x4 + y3 + y4 D x4 y4 x4 + y4

In some embodiments, the controller 650 may implement measures to ensuresecurity of data transmission. In some examples, the controller 650 mayverify a source of a data packet using identification informationincluding header information and sync field information. In someexamples, the controller 650 may authenticate a source of a data packetusing timestamps of the data packet, based on an expected time of datatransmission (accounting for transmission delays) from the sensors 610,620, 630, and/or 640 to the controller. If the timestamp of the datapacket is outside a range of an expected time of data transmission, thecontroller 650 may determine that the data packet is not authentic.

FIG. 7 illustrates a flowchart of a method to assembly sensors in adaisy chain communication network according to some embodiments. In thisand other flowcharts, the flowchart 800 illustrates by way of example asequence of steps. It should be understood the steps may be reorganizedfor parallel execution, or reordered, as applicable. Moreover, somesteps that could have been included may have been removed to avoidproviding too much information for the sake of clarity and some stepsthat were included could be removed, but may have been included for thesake of illustrative clarity. The description from other FIGS. may alsobe applicable to FIG. 7 .

In step 702, sensors may be assembled in a daisy chain communicationnetwork. In step 704, a controller may be connected to at least one ofthe sensors. In step 706, the controller may operate a vehicle and thedaisy chain communication network based on data from the sensors.

Hardware Implementation

The techniques described herein are implemented by one or morespecial-purpose computing devices. The special-purpose computing devicesmay be hard-wired to perform the techniques, or may include circuitry ordigital electronic devices such as one or more application-specificintegrated circuits (ASICs) or field programmable gate arrays (FPGAs)that are persistently programmed to perform the techniques, or mayinclude one or more hardware processors programmed to perform thetechniques pursuant to program instructions in firmware, memory, otherstorage, or a combination. Such special-purpose computing devices mayalso combine custom hard-wired logic, ASICs, or FPGAs with customprogramming to accomplish the techniques. The special-purpose computingdevices may be desktop computer systems, server computer systems,portable computer systems, handheld devices, networking devices or anyother device or combination of devices that incorporate hard-wiredand/or program logic to implement the techniques.

Computing device(s) are generally controlled and coordinated byoperating system software, such as iOS, Android, Chrome OS, Windows XP,Windows Vista, Windows 7, Windows 8, Windows Server, Windows CE, Unix,Linux, SunOS, Solaris, iOS, Blackberry OS, VxWorks, or other compatibleoperating systems. In other embodiments, the computing device may becontrolled by a proprietary operating system. Conventional operatingsystems control and schedule computer processes for execution, performmemory management, provide file system, networking, I/O services, andprovide a user interface functionality, such as a graphical userinterface (“GUI”), among other things.

FIG. 8 is a block diagram that illustrates a computer system 800 uponwhich any of the embodiments described herein may be implemented. Thecomputer system 800 includes a bus 802 or other communication mechanismfor communicating information, one or more hardware processors 804coupled with bus 802 for processing information. Hardware processor(s)804 may be, for example, one or more general purpose microprocessors.

The computer system 800 also includes a main memory 806, such as arandom access memory (RAM), cache and/or other dynamic storage devices,coupled to bus 802 for storing information and instructions to beexecuted by processor 804. Main memory 806 also may be used for storingtemporary variables or other intermediate information during executionof instructions to be executed by processor 804. Such instructions, whenstored in storage media accessible to processor 804, render computersystem 800 into a special-purpose machine that is customized to performthe operations specified in the instructions.

The computer system 800 further includes a read only memory (ROM) 808 orother static storage device coupled to bus 802 for storing staticinformation and instructions for processor 804. A storage device 810,such as a magnetic disk, optical disk, or USB thumb drive (Flash drive),etc., is provided and coupled to bus 802 for storing information andinstructions.

The computer system 800 may be coupled via bus 802 to output device(s)812, such as a cathode ray tube (CRT) or LCD display (or touch screen),for displaying information to a computer user. Input device(s) 814,including alphanumeric and other keys, are coupled to bus 802 forcommunicating information and command selections to processor 804.Another type of user input device is cursor control 816, such as amouse, a trackball, or cursor direction keys for communicating directioninformation and command selections to processor 804 and for controllingcursor movement on display 812. This input device typically has twodegrees of freedom in two axes, a first axis (e.g., x) and a second axis(e.g., y), that allows the device to specify positions in a plane. Insome embodiments, the same direction information and command selectionsas cursor control may be implemented via receiving touches on a touchscreen without a cursor.

The computing system 800 may include a user interface module toimplement a GUI that may be stored in a mass storage device asexecutable software codes that are executed by the computing device(s).This and other modules may include, by way of example, components, suchas software components, object-oriented software components, classcomponents and task components, processes, functions, attributes,procedures, subroutines, segments of program code, drivers, firmware,microcode, circuitry, data, databases, data structures, tables, arrays,and variables.

In general, the word “module,” as used herein, refers to logic embodiedin hardware or firmware, or to a collection of software instructions,possibly having entry and exit points, written in a programminglanguage, such as, for example, Java, C or C++. A software module may becompiled and linked into an executable program, installed in a dynamiclink library, or may be written in an interpreted programming languagesuch as, for example, BASIC, Perl, or Python. It will be appreciatedthat software modules may be callable from other modules or fromthemselves, and/or may be invoked in response to detected events orinterrupts. Software modules configured for execution on computingdevices may be provided on a computer readable medium, such as a compactdisc, digital video disc, flash drive, magnetic disc, or any othertangible medium, or as a digital download (and may be originally storedin a compressed or installable format that requires installation,decompression or decryption prior to execution). Such software code maybe stored, partially or fully, on a memory device of the executingcomputing device, for execution by the computing device. Softwareinstructions may be embedded in firmware, such as an EPROM. It will befurther appreciated that hardware modules may be comprised of connectedlogic units, such as gates and flip-flops, and/or may be comprised ofprogrammable units, such as programmable gate arrays or processors. Themodules or computing device functionality described herein arepreferably implemented as software modules, but may be represented inhardware or firmware. Generally, the modules described herein refer tological modules that may be combined with other modules or divided intosub-modules despite their physical organization or storage.

The computer system 800 may implement the techniques described hereinusing customized hard-wired logic, one or more ASICs or FPGAs, firmwareand/or program logic which in combination with the computer systemcauses or programs computer system 800 to be a special-purpose machine.According to one embodiment, the techniques herein are performed bycomputer system 800 in response to processor(s) 804 executing one ormore sequences of one or more instructions contained in main memory 806.Such instructions may be read into main memory 806 from another storagemedium, such as storage device 810. Execution of the sequences ofinstructions contained in main memory 806 causes processor(s) 804 toperform the process steps described herein. In alternative embodiments,hard-wired circuitry may be used in place of or in combination withsoftware instructions.

The term “non-transitory media,” and similar terms, as used hereinrefers to any media that store data and/or instructions that cause amachine to operate in a specific fashion. Such non-transitory media maycomprise non-volatile media and/or volatile media. Non-volatile mediaincludes, for example, optical or magnetic disks, such as storage device810. Volatile media includes dynamic memory, such as main memory 606.Common forms of non-transitory media include, for example, a floppydisk, a flexible disk, hard disk, solid state drive, magnetic tape, orany other magnetic data storage medium, a CD-ROM, any other optical datastorage medium, any physical medium with patterns of holes, a RAM, aPROM, and EPROM, a FLASH-EPROM, NVRAM, any other memory chip orcartridge, and networked versions of the same.

Non-transitory media is distinct from but may be used in conjunctionwith transmission media. Transmission media participates in transferringinformation between non-transitory media. For example, transmissionmedia includes coaxial cables, copper wire and fiber optics, includingthe wires that comprise bus 802. Transmission media can also take theform of acoustic or light waves, such as those generated duringradio-wave and infra-red data communications.

Various forms of media may be involved in carrying one or more sequencesof one or more instructions to processor 804 for execution. For example,the instructions may initially be carried on a magnetic disk orsolid-state drive of a remote computer. The remote computer can load theinstructions into its dynamic memory and send the instructions over atelephone line using a modem. A modem local to computer system 800 canreceive the data on the telephone line and use an infra-red transmitterto convert the data to an infra-red signal. An infra-red detector canreceive the data carried in the infra-red signal and appropriatecircuitry can place the data on bus 802. Bus 802 carries the data tomain memory 806, from which processor 804 retrieves and executes theinstructions. The instructions received by main memory 806 may retrievesand executes the instructions. The instructions received by main memory806 may optionally be stored on storage device 810 either before orafter execution by processor 804.

The computer system 800 also includes a communication interface 818coupled to bus 802. Communication interface 818 provides a two-way datacommunication coupling to one or more network links that are connectedto one or more local networks. For example, communication interface 818may be an integrated services digital network (ISDN) card, cable modem,satellite modem, or a modem to provide a data communication connectionto a corresponding type of telephone line. As another example,communication interface 818 may be a local area network (LAN) card toprovide a data communication connection to a compatible LAN (or WANcomponent to communicated with a WAN). Wireless links may also beimplemented. In any such implementation, communication interface 818sends and receives electrical, electromagnetic or optical signals thatcarry digital data streams representing various types of information.

A network link typically provides data communication through one or morenetworks to other data devices. For example, a network link may providea connection through local network to a host computer or to dataequipment operated by an Internet Service Provider (ISP). The ISP inturn provides data communication services through the world wide packetdata communication network now commonly referred to as the “Internet”.Local network and Internet both use electrical, electromagnetic oroptical signals that carry digital data streams. The signals through thevarious networks and the signals on network link and throughcommunication interface 818, which carry the digital data to and fromcomputer system 800, are example forms of transmission media.

The computer system 800 can send messages and receive data, includingprogram code, through the network(s), network link and communicationinterface 818. In the Internet example, a server might transmit arequested code for an application program through the Internet, the ISP,the local network and the communication interface 818.

The received code may be executed by processor 804 as it is received,and/or stored in storage device 810, or other non-volatile storage forlater execution.

Each of the processes, methods, and algorithms described in thepreceding sections may be embodied in, and fully or partially automatedby, code modules executed by one or more computer systems or computerprocessors comprising computer hardware. The processes and algorithmsmay be implemented partially or wholly in application-specificcircuitry.

The various features and processes described above may be usedindependently of one another, or may be combined in various ways. Allpossible combinations and sub-combinations are intended to fall withinthe scope of this disclosure. In addition, certain method or processblocks may be omitted in some implementations. The methods and processesdescribed herein are also not limited to any particular sequence, andthe blocks or states relating thereto can be performed in othersequences that are appropriate. For example, described blocks or statesmay be performed in an order other than that specifically disclosed, ormultiple blocks or states may be combined in a single block or state.The example blocks or states may be performed in serial, in parallel, orin some other manner. Blocks or states may be added to or removed fromthe disclosed example embodiments. The example systems and componentsdescribed herein may be configured differently than described. Forexample, elements may be added to, removed from, or rearranged comparedto the disclosed example embodiments.

Conditional language, such as, among others, “can,” “could,” “might,” or“may,” unless specifically stated otherwise, or otherwise understoodwithin the context as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements and/or steps are inany way required for one or more embodiments or that one or moreembodiments necessarily include logic for deciding, with or without userinput or prompting, whether these features, elements and/or steps areincluded or are to be performed in any particular embodiment.

Any process descriptions, elements, or blocks in the flow diagramsdescribed herein and/or depicted in the attached figures should beunderstood as potentially representing modules, segments, or portions ofcode which include one or more executable instructions for implementingspecific logical functions or steps in the process. Alternateimplementations are included within the scope of the embodimentsdescribed herein in which elements or functions may be deleted, executedout of order from that shown or discussed, including substantiallyconcurrently or in reverse order, depending on the functionalityinvolved, as would be understood by those skilled in the art.

It should be emphasized that many variations and modifications may bemade to the above-described embodiments, the elements of which are to beunderstood as being among other acceptable examples. All suchmodifications and variations are intended to be included herein withinthe scope of this disclosure. The foregoing description details certainembodiments of the invention. It will be appreciated, however, that nomatter how detailed the foregoing appears in text, the invention can bepracticed in many ways. As is also stated above, it should be noted thatthe use of particular terminology when describing certain features oraspects of the invention should not be taken to imply that theterminology is being re-defined herein to be restricted to including anyspecific characteristics of the features or aspects of the inventionwith which that terminology is associated. The scope of the inventionshould therefore be construed in accordance with the appended claims andany equivalents thereof.

Engines, Components, and Logic

Certain embodiments are described herein as including logic or a numberof components, engines, or mechanisms. Engines may constitute eithersoftware engines (e.g., code embodied on a machine-readable medium) orhardware engines. A “hardware engine” is a tangible unit capable ofperforming certain operations and may be configured or arranged in acertain physical manner. In various example embodiments, one or morecomputer systems (e.g., a standalone computer system, a client computersystem, or a server computer system) or one or more hardware engines ofa computer system (e.g., a processor or a group of processors) may beconfigured by software (e.g., an application or application portion) asa hardware engine that operates to perform certain operations asdescribed herein.

In some embodiments, a hardware engine may be implemented mechanically,electronically, or any suitable combination thereof. For example, ahardware engine may include dedicated circuitry or logic that ispermanently configured to perform certain operations. For example, ahardware engine may be a special-purpose processor, such as aField-Programmable Gate Array (FPGA) or an Application SpecificIntegrated Circuit (ASIC). A hardware engine may also includeprogrammable logic or circuitry that is temporarily configured bysoftware to perform certain operations. For example, a hardware enginemay include software executed by a general-purpose processor or otherprogrammable processor. Once configured by such software, hardwareengines become specific machines (or specific components of a machine)uniquely tailored to perform the configured functions and are no longergeneral-purpose processors. It will be appreciated that the decision toimplement a hardware engine mechanically, in dedicated and permanentlyconfigured circuitry, or in temporarily configured circuitry (e.g.,configured by software) may be driven by cost and time considerations.

Accordingly, the phrase “hardware engine” should be understood toencompass a tangible entity, be that an entity that is physicallyconstructed, permanently configured (e.g., hardwired), or temporarilyconfigured (e.g., programmed) to operate in a certain manner or toperform certain operations described herein. As used herein,“hardware-implemented engine” refers to a hardware engine. Consideringembodiments in which hardware engines are temporarily configured (e.g.,programmed), each of the hardware engines need not be configured orinstantiated at any one instance in time. For example, where a hardwareengine comprises a general-purpose processor configured by software tobecome a special-purpose processor, the general-purpose processor may beconfigured as respectively different special-purpose processors (e.g.,comprising different hardware engines) at different times. Softwareaccordingly configures a particular processor or processors, forexample, to constitute a particular hardware engine at one instance oftime and to constitute a different hardware engine at a differentinstance of time.

Hardware engines can provide information to, and receive informationfrom, other hardware engines. Accordingly, the described hardwareengines may be regarded as being communicatively coupled. Where multiplehardware engines exist contemporaneously, communications may be achievedthrough signal transmission (e.g., over appropriate circuits and buses)between or among two or more of the hardware engines. In embodiments inwhich multiple hardware engines are configured or instantiated atdifferent times, communications between such hardware engines may beachieved, for example, through the storage and retrieval of informationin memory structures to which the multiple hardware engines have access.For example, one hardware engine may perform an operation and store theoutput of that operation in a memory device to which it iscommunicatively coupled. A further hardware engine may then, at a latertime, access the memory device to retrieve and process the storedoutput. Hardware engines may also initiate communications with input oroutput devices, and can operate on a resource (e.g., a collection ofinformation).

The various operations of example methods described herein may beperformed, at least partially, by one or more processors that aretemporarily configured (e.g., by software) or permanently configured toperform the relevant operations. Whether temporarily or permanentlyconfigured, such processors may constitute processor-implemented enginesthat operate to perform one or more operations or functions describedherein. As used herein, “processor-implemented engine” refers to ahardware engine implemented using one or more processors.

Similarly, the methods described herein may be at least partiallyprocessor-implemented, with a particular processor or processors beingan example of hardware. For example, at least some of the operations ofa method may be performed by one or more processors orprocessor-implemented engines. Moreover, the one or more processors mayalso operate to support performance of the relevant operations in a“cloud computing” environment or as a “software as a service” (SaaS).For example, at least some of the operations may be performed by a groupof computers (as examples of machines including processors), with theseoperations being accessible via a network (e.g., the Internet) and viaone or more appropriate interfaces (e.g., an Application ProgramInterface (API)).

The performance of certain of the operations may be distributed amongthe processors, not only residing within a single machine, but deployedacross a number of machines. In some example embodiments, the processorsor processor-implemented engines may be located in a single geographiclocation (e.g., within a home environment, an office environment, or aserver farm). In other example embodiments, the processors orprocessor-implemented engines may be distributed across a number ofgeographic locations.

Language

Throughout this specification, plural instances may implementcomponents, operations, or structures described as a single instance.Although individual operations of one or more methods are illustratedand described as separate operations, one or more of the individualoperations may be performed concurrently, and nothing requires that theoperations be performed in the order illustrated. Structures andfunctionality presented as separate components in example configurationsmay be implemented as a combined structure or component. Similarly,structures and functionality presented as a single component may beimplemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein.

Although an overview of the subject matter has been described withreference to specific example embodiments, various modifications andchanges may be made to these embodiments without departing from thebroader scope of embodiments of the present disclosure. Such embodimentsof the subject matter may be referred to herein, individually orcollectively, by the term “invention” merely for convenience and withoutintending to voluntarily limit the scope of this application to anysingle disclosure or concept if more than one is, in fact, disclosed.

The embodiments illustrated herein are described in sufficient detail toenable those skilled in the art to practice the teachings disclosed.Other embodiments may be used and derived therefrom, such thatstructural and logical substitutions and changes may be made withoutdeparting from the scope of this disclosure. The Detailed Description,therefore, is not to be taken in a limiting sense, and the scope ofvarious embodiments is defined only by the appended claims, along withthe full range of equivalents to which such claims are entitled.

It will be appreciated that an “engine,” “system,” “data store,” and/or“database” may comprise software, hardware, firmware, and/or circuitry.In one example, one or more software programs comprising instructionscapable of being executable by a processor may perform one or more ofthe functions of the engines, data stores, databases, or systemsdescribed herein. In another example, circuitry may perform the same orsimilar functions. Alternative embodiments may comprise more, less, orfunctionally equivalent engines, systems, data stores, or databases, andstill be within the scope of present embodiments. For example, thefunctionality of the various systems, engines, data stores, and/ordatabases may be combined or divided differently.

“Open source” software is defined herein to be source code that allowsdistribution as source code as well as compiled form, with awell-publicized and indexed means of obtaining the source, optionallywith a license that allows modifications and derived works.

The data stores described herein may be any suitable structure (e.g., anactive database, a relational database, a self-referential database, atable, a matrix, an array, a flat file, a documented-oriented storagesystem, a non-relational No-SQL system, and the like), and may becloud-based or otherwise.

As used herein, the term “or” may be construed in either an inclusive orexclusive sense. Moreover, plural instances may be provided forresources, operations, or structures described herein as a singleinstance. Additionally, boundaries between various resources,operations, engines, engines, and data stores are somewhat arbitrary,and particular operations are illustrated in a context of specificillustrative configurations. Other allocations of functionality areenvisioned and may fall within a scope of various embodiments of thepresent disclosure. In general, structures and functionality presentedas separate resources in the example configurations may be implementedas a combined structure or resource. Similarly, structures andfunctionality presented as a single resource may be implemented asseparate resources. These and other variations, modifications,additions, and improvements fall within a scope of embodiments of thepresent disclosure as represented by the appended claims. Thespecification and drawings are, accordingly, to be regarded in anillustrative rather than a restrictive sense.

Conditional language, such as, among others, “can,” “could,” “might,” or“may,” unless specifically stated otherwise, or otherwise understoodwithin the context as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements and/or steps are inany way required for one or more embodiments or that one or moreembodiments necessarily include logic for deciding, with or without userinput or prompting, whether these features, elements and/or steps areincluded or are to be performed in any particular embodiment.

For example, “is to be” could mean, “should be,” “needs to be,” “isrequired to be,” or “is desired to be,” in some embodiments.

In the following description, certain specific details are set forth inorder to provide a thorough understanding of various embodiments of theinvention. However, one skilled in the art will understand that theinvention may be practiced without these details. Moreover, whilevarious embodiments of the invention are disclosed herein, manyadaptations and modifications may be made within the scope of theinvention in accordance with the common general knowledge of thoseskilled in this art. Such modifications include the substitution ofknown equivalents for any aspect of the invention in order to achievethe same result in substantially the same way.

Unless the context requires otherwise, throughout the presentspecification and claims, the word “comprise” and variations thereof,such as, “comprises” and “comprising” are to be construed in an open,inclusive sense, that is as “including, but not limited to.” Recitationof numeric ranges of values throughout the specification is intended toserve as a shorthand notation of referring individually to each separatevalue falling within the range inclusive of the values defining therange, and each separate value is incorporated in the specification asit were individually recited herein. Additionally, the singular forms“a,” “an” and “the” include plural referents unless the context clearlydictates otherwise. The phrases “at least one of,” “at least oneselected from the group of,” or “at least one selected from the groupconsisting of,” and the like are to be interpreted in the disjunctive(e.g., not to be interpreted as at least one of A and at least one ofB).

Reference throughout this specification to “one embodiment” or “anembodiment” means that a particular feature, structure or characteristicdescribed in connection with the embodiment is included in at least oneembodiment of the present invention. Thus, the appearances of thephrases “in one embodiment” or “in an embodiment” in various placesthroughout this specification are not necessarily all referring to thesame embodiment, but may be in some instances. Furthermore, theparticular features, structures, or characteristics may be combined inany suitable manner in one or more embodiments.

Although the invention(s) have been described in detail for the purposeof illustration based on what is currently considered to be the mostpractical and preferred implementations, it is to be understood thatsuch detail is solely for that purpose and that the invention is notlimited to the disclosed implementations, but, on the contrary, isintended to cover modifications and equivalent arrangements that arewithin the spirit and scope of the appended claims. For example, it isto be understood that the present invention contemplates that, to theextent possible, one or more features of any embodiment can be combinedwith one or more features of any other embodiment.

The foregoing description of the present invention(s) have been providedfor the purposes of illustration and description. It is not intended tobe exhaustive or to limit the invention to the precise forms disclosed.The breadth and scope of the present invention should not be limited byany of the above-described exemplary embodiments. Many modifications andvariations will be apparent to the practitioner skilled in the art. Themodifications and variations include any relevant combination of thedisclosed features. The embodiments were chosen and described in orderto best explain the principles of the invention and its practicalapplication, thereby enabling others skilled in the art to understandthe invention for various embodiments and with various modificationsthat are suited to the particular use contemplated. It is intended thatthe scope of the invention be defined by the following claims and theirequivalence.

What is claimed is:
 1. A sensor system on a vehicle, comprising: sensorsconnected with one another in a daisy chain communication network; and acontroller connected to at least one of the sensors, the controllerbeing configured to: receive a first timestamp and a first packet from afirst sensor and a second timestamp and a second packet from a secondsensor; append the first packet and the second packet; adjust theappended first and second packet based on a first duration consumed inanalyzing a first header of the first packet, a second duration consumedin analyzing a second header of the second packet, and a third durationconsumed in appending the first packet and the second packet; andoperate the vehicle based on the adjusted appended first and secondpacket and to operate the daisy chain communication network.
 2. Thesensor system of claim 1, further comprising a third sensor, wherein:the third sensor of the sensors is configured to: accept the appendedfirst and second packet from the first sensor or the second sensor;perform a second appending procedure to append the appended first andsecond packet to a third packet corresponding to the third sensor,thereby forming a combined packet; and transmit the combined packet to afourth sensor or the controller; and the third packet comprises a thirdtimestamp indicating a time at which the third packet was captured and atransmission delay of the third packet.
 3. The sensor system of claim 2,wherein: the third sensor transmits the combined packet to thecontroller; and in response to the third sensor transmitting thecombined packet to the controller, the controller is configured toprocess the combined packet and the third packet based on the thirdtimestamp of the third packet.
 4. The sensor system of claim 1, wherein:the adjusting of the appended first and second packet is further basedon a fourth duration consumed in storing the first packet at the firstsensor, and a fifth duration consumed in storing the second packet atthe second sensor.
 5. The sensor system of claim 1, wherein: thecontroller verifies sources of the first packet and the second packetbased on the first header, the second header, first sync fieldinformation corresponding to the first packet, and second sync fieldinformation corresponding to the second packet.
 6. The sensor system ofclaim 1, wherein the controller: authenticates a first source of thefirst packet based on the first timestamp and based on a first expectedtime of data transmission from the first packet to the controller; andauthenticates a second source of the second packet based on the secondtimestamp and based on a second expected time of data transmission fromthe second packet to the controller.
 7. The sensor system of claim 1,further comprising a third sensor, wherein the first sensor is disposedbetween the second sensor and the third sensor, and the controller:receives the first packet twice via the second sensor and via the thirdsensor; and receives the second packet twice via the second sensor andvia the third sensor.
 8. The sensor system of claim 7, wherein thecontroller: discards the first packet received via the second sensor ifthe first packet has already been received via the third sensor;discards the first packet received via the third sensor if the firstpacket has already been received via the second sensor; discards thesecond packet received via the second sensor if the second packet hasalready been received via the third sensor; and discards the secondpacket received via the third sensor if the first packet has alreadybeen received via the second sensor.
 9. The sensor system of claim 1,wherein the controller: in response to a single-point failure occurringbetween the first sensor and the second sensor, select a third sensor tocommence data transmission, while preventing other sensors beside thethird sensor from commencing data transmission.
 10. The sensor system ofclaim 1, wherein the adjusting of the appended first and second packetis based on a sum of the first duration, the second duration, and thethird duration.
 11. A method implemented by a sensor system on avehicle, the method comprising: assembling sensors in a daisy chaincommunication network; connecting a controller to at least one of thesensors; receiving, by the controller, a first timestamp and a firstpacket from a first sensor and a second timestamp and a second packetfrom a second sensor; appending, by the controller, the first packet andthe second packet; adjusting, by the controller, the appended first andsecond packet based on a first duration consumed in analyzing a firstheader of the first packet, a second duration consumed in analyzing asecond header of the second packet, and a third duration consumed inappending the first packet and the second packet; and operating, by thecontroller, the vehicle based on the adjusted appended first and secondpacket and to operate the daisy chain communication network.
 12. Themethod of claim 11, further comprising: accepting, by a third sensor ofthe sensors, the appended first and second packet from the first sensoror the second sensor; performing, by the third sensor, a secondappending procedure to append the appended first and second packet to athird packet corresponding to the third sensor, thereby forming acombined packet; and transmitting the combined packet to a fourth sensoror the controller, and wherein the third packet comprises a thirdtimestamp indicating a time at which the third packet was captured and atransmission delay of the third packet.
 13. The method of claim 12,further comprising: transmitting, by the third sensor, the combinedpacket to the controller; and in response to the third sensortransmitting the combined packet to the controller, processing, by thecontroller, the combined packet and the third packet based on the thirdtimestamp of the third packet.
 14. The method of claim 11, wherein: theadjusting of the appended first and second packet is further based on afourth duration consumed in storing the first packet at the firstsensor, and a fifth duration consumed in storing the second packet atthe second sensor.
 15. The method of claim 11, further comprising:verifying sources of the first packet and the second packet based on thefirst header, the second header, first sync field informationcorresponding to the first packet, and second sync field informationcorresponding to the second packet.
 16. The method of claim 11, furthercomprising: authenticating, by the controller, a first source of thefirst packet based on the first timestamp and based on a first expectedtime of data transmission from the first packet to the controller; andauthenticating, by the controller, a second source of the second packetbased on the second timestamp and based on a second expected time ofdata transmission from the second packet to the controller.
 17. Themethod of claim 11, wherein the first sensor is disposed between thesecond sensor and the third sensor, and the method further comprises:receiving the first packet twice via the second sensor and via the thirdsensor; and receiving the second packet twice via the second sensor andvia the third sensor.
 18. The method of claim 17, further comprising:discarding the first packet received via the second sensor if the firstpacket has already been received via the third sensor; discarding thefirst packet received via the third sensor if the first packet hasalready been received via the second sensor; discarding the secondpacket received via the second sensor if the second packet has alreadybeen received via the third sensor; and discarding the second packetreceived via the third sensor if the first packet has already beenreceived via the second sensor.
 19. The method of claim 11, furthercomprising: in response to a single-point failure occurring between thefirst sensor and the second sensor, selecting, by the controller, athird sensor to commence data transmission, while preventing othersensors beside the third sensor from commencing data transmission. 20.The method of claim 11, wherein the adjusting of the appended first andsecond packet is based on a sum of the first duration, the secondduration, and the third duration.